Camera positioning method and apparatus for capturing images during a medical procedure

ABSTRACT

A method and apparatus for positioning a camera to capture images inside a body cavity of a patient during a medical procedure is disclosed. The apparatus includes an insertion tube, a plurality of connected linkages extending from a distal end of the insertion tube, each linkage having a threaded actuator received on a threaded end of a drive shaft extending between the threaded actuator and a proximal end of the insertion tube. The apparatus also includes a camera disposed at a distal end of the plurality of connected linkages. Each connected linkage has at least one associated movement actuated by movement of the threaded actuator in response to rotation of the drive shaft, the associated movements of the connected linkages together operable to facilitate positioning of the camera within the body cavity of the patient.

BACKGROUND 1. Field

This disclosure relates generally to positioning a camera for imagingand more particularly to positioning a camera inside a body cavity of apatient for capturing images during a medical procedure.

2. Description of Related Art

Miniaturized cameras are used during investigative medical proceduresand surgical procedures such as laparoscopic surgery and computerassisted robotic surgery to produce images of a site of the procedurewithin a body cavity of the patient. The camera generally includes anillumination source for illuminating the site of the procedure.

SUMMARY

In accordance with one disclosed aspect there is provided an apparatusfor positioning a camera to capture images inside a body cavity of apatient during a medical procedure. The apparatus includes an insertiontube, a plurality of connected linkages extending from a distal end ofthe insertion tube, each linkage having a threaded actuator received ona threaded end of a drive shaft extending between the threaded actuatorand a proximal end of the insertion tube. The apparatus also includes acamera disposed at a distal end of the plurality of connected linkages.Each connected linkage has at least one associated movement actuated bymovement of the threaded actuator in response to rotation of the driveshaft, the associated movements of the connected linkages togetheroperable to facilitate positioning of the camera within the body cavityof the patient.

Each drive shaft may include a drive coupler at the proximal end of thedrive shaft, the drive coupler operable to receive a drive torque forcausing rotation of the drive shaft.

The drive couplers may be housed within a drive interface operablyconfigured to removably couple to a driver unit, the driver unit beingoperable to provide the respective drive torques.

Each drive coupler may include a rotational coupler for transmittingtorque to each drive shaft, the rotational coupler being operablyconfigured to receive the proximal end of the drive shaft and totransmit the drive torque to the drive shaft while accommodating linearmovement of the proximal end due to resulting movements of the camera.

The rotational coupler may include a tubular body for receiving theproximal end of drive shaft, the tubular body having a slotted portionthat engages a pin extending through the proximal end of the drive shaftfor coupling to the tubular body.

Each rotational coupler may include a moveable detent coupled to theproximal end of the drive shaft and operable to resiliently engage afixed detent in the drive interface corresponding to a startup positionfor each of the proximal ends of the respective drive shafts, thestartup positions of the drive shafts defining an insertion position ofthe camera.

The interface may be removably received on the drive unit, and whereinwhen received the moveable and fixed detents may be disengaged to permitmovement of the camera away from the insertion position. Prior toremoval of the interface, the drive unit is operably configured to placethe camera in the insertion position causing the moveable and fixeddetents to be aligned. When removed, the moveable and fixed detents areengaged to retain the rotational couplers in the startup position.

In the insertion position the camera may be positioned generally in linewith a longitudinal axis extending outwardly from the insertion tube.

The plurality of connected linkages may include at least a panninglinkage for producing side-to-side motion of the camera, an elevatinglinkage for moving the camera away from the longitudinal axis, and atilt linkage for tilting the camera forward and backward with respect tothe longitudinal axis.

The panning linkage may be connected to the distal end of the insertiontube, the elevating linkage is connected to the panning linkage and thetilt linkage is connected to the elevating linkage, and the camera maybe attached to the tilt linkage.

At least one of the drive shafts may include a compliant portionfacilitating bending of the shaft in response to movements of the camerawhile continuing to permit rotation of the at least one drive shaft.

Each linkage may include a revolute joint constrained to permit motionin a single degree of freedom corresponding to the associated movementof the linkage and the threaded actuator may be coupled to the linkageto cause motion about the revolute joint.

In accordance with another disclosed aspect there is provided a methodfor positioning a camera to capture images inside a body cavity of apatient during a medical procedure, the camera being disposed at adistal end of a plurality of connected linkages extending from a distalend of an insertion tube, each linkage having a threaded actuatorreceived on a threaded end of a drive shaft extending between thethreaded actuator and a proximal end of the insertion tub. The methodinvolves selectively causing rotation of the respective drive shafts tocause movement of the respective threaded actuators, the movement of therespective threaded actuators causing associated movements of theconnected linkages to positioning of the camera within the body cavityof the patient.

Selectively causing rotation of the respective drive shafts may involvecausing the respective drive shafts to position the camera in aninsertion position prior to removal from the body cavity of a patient.

Causing the respective drive shafts to position the camera in aninsertion position may involve causing the camera to be positionedgenerally in line with a longitudinal axis of the insertion tube.

In accordance with another disclosed aspect there is provided anapparatus for positioning a camera to capture images inside a bodycavity of a patient during a medical procedure. The apparatus includesan articulated arm includes a plurality of connected moveable linkages,a camera disposed at a distal end of the plurality of connectedlinkages, the camera including a camera housing enclosing image captureoptics, an image sensor, and image capture electronic circuitry operableto produce image data representing images captured by the image sensor,and data transmission electrical circuitry operable to generate andtransmit data signals encoding the image data to a host system, the datatransmission electrical circuitry being housed within in one of themoveable linkages and coupled to the image capture electronic circuitryvia a flexible interconnect.

Other aspects and features will become apparent to those ordinarilyskilled in the art upon review of the following description of specificdisclosed embodiments in conjunction with the accompanying figures.

BRIEF DESCRIPTION OF THE DRAWINGS

In drawings which illustrate disclosed embodiments,

FIG. 1 is a perspective view of a robotic surgical apparatus;

FIG. 2 is a perspective view of a drive unit and camera of the roboticsurgical apparatus shown in FIG. 1 ;

FIG. 3 is a perspective view of an insertion tube, linkages, and thecamera shown in FIG. 2 ;

FIG. 4 is a further enlarged perspective view of the linkages and camerashown in FIG. 3 ;

FIG. 5 is a rear perspective view of the linkages and camera in adeployed state;

FIG. 6 is a rear perspective view of a drive interface shown in FIG. 3 ;and

FIG. 7 is a front perspective view of the linkages and camera in adeployed state.

DETAILED DESCRIPTION

Referring to FIG. 1 , a robotic surgical apparatus is shown generally at100. The surgical apparatus 100 includes a cart 102 that supports anarticulated boom 104 that carries a drive unit 106 having a camera 108mounted on the drive unit. The cart 102 may be wheeled up to a patient(not shown) and the articulated boom 104 deployed to maneuver the driveunit 106 and camera 108 into a location for accessing a body cavity ofthe patient and positioning a camera to capture images inside the bodycavity of a patient during a medical procedure. The surgical apparatus100 may be controlled by a workstation console (not shown) connected tothe surgical apparatus via a cable 110 that carries signals forcontrolling the drive unit 106 and camera 108.

Referring to FIG. 2 , the drive unit 106 and camera 108 are shown infront view. The camera 108 is mounted at a distal end of a plurality ofconnected linkages 120 extending from a distal end 122 of an insertiontube 124. The insertion tube 124 extends outwardly from a driveinterface 126 that is removably received on the drive unit 106.

The camera 108, insertion tube 124, and drive interface 126 are shown ingreater detail in FIG. 3 . Referring to FIG. 3 , in the embodiment shownthe plurality of connected linkages 120 include a panning linkage 130,an elevating linkage 132, and a tilt linkage 134. The panning linkage130 is connected by a revolute joint 136 to the distal end 122 of theinsertion tube 124, which constrains the panning linkage to side-to-sidemotion in the direction indicated by the arrow 138. The elevatinglinkage 132 is connected to the panning linkage 130 by a revolute joint140, which constrains the linkage to movement away from a longitudinalaxis 142 in the direction indicated by the arrow 144. The tilt linkage134 is connected to the elevating linkage 132 by a revolute joint 148,which constrains the linkage to movement for tilting the camera 108forward and backward with respect to the longitudinal axis 142 in thedirection indicated by the arrow 150.

In the embodiment shown the panning linkage 130 is thus connected to thedistal end 122 of the insertion tube 124, the elevating linkage 132 isconnected to the panning linkage 130 and the tilt linkage 134 isconnected to the elevating linkage 132. The camera 108 is disposed at adistal end of the plurality of connected linkages 120, in this caseconnected to the tilt linkage 134. In other embodiments the plurality ofconnected linkages 120 may be otherwise arranged and one or more of thelinkages may be omitted.

The connected linkages 120 are shown in enlarged detail in FIG. 4 with adistal cap 152 (shown in FIG. 3 ) on the insertion tube 124 removed.Referring to FIG. 4 , the panning linkage 130 has a threaded actuator180 received on a threaded end 182 of a drive shaft 184. The elevatinglinkage 132 has a threaded actuator 188 received on a threaded end 190of a drive shaft 192. The tilt linkage 134 has a threaded actuator 194received on a threaded end 196 of a drive shaft 198. Each of the driveshafts 184, 192 and 198 extend between the respective threaded actuators180, 188, and 194 and a proximal end 186 (shown in FIG. 3 ) of theinsertion tube 124. The drive shafts 184, 192 and 198 are routed throughrespective bores 170, 172, and 174 extending through the insertion tube124 (only shown in part in FIG. 4 ). The bores 170, 172, and 174 aresized and configured such that each drive shaft 184, 192 and 198 isfreely rotatable within the bores as indicated by the arrows shown inFIG. 4 .

Each connected linkage 120 thus has at least one associated movementactuated by movement of the respective threaded actuators 180, 188, and194 in response to rotation of the respective drive shafts 184, 192 and198. The associated movements of the connected linkages 120 are togetheroperable to facilitate positioning of the camera 108 within the bodycavity of the patient. For example, rotation of the shaft 184 causes thethreaded actuator 180 to move either forwardly or rearwardly in adirection aligned with the longitudinal axis 142 causing the panninglinkage 130 to pan about the revolute joint 136 moving the camera 108from side to side. In the embodiment shown, each of the linkages 120thus includes a revolute joint (136, 140, 148) constrained to permitmotion in a single degree of freedom corresponding to the associatedmovement of the linkage and a threaded actuator (180, 188, and 194)coupled to the linkage to cause motion about the revolute joint.

Referring to FIG. 5 , the camera 108 is shown in rear view in a deployedstate with the drive shafts 184, 192 and 198 omitted for clarity. Thethreaded actuator 180 terminates in a ball and socket joint 200 on therear of the panning linkage 130 which facilitates pivoting at the jointduring movement. Similarly the threaded actuator 188 terminates in aball and socket joint 202 on a strut 204 of the elevating linkage 132. Aproximal end threaded actuator 188 is received in a hinged block 206 androtation of the drive shaft 192 causes the elevating linkage 132 toraise or lower with respect to the longitudinal axis 142. Finally, thethreaded actuator 194 is mounted in a first swivel block 208 on theelevating linkage 132 and has a distal end that is clamped to a secondswivel block on the tilt linkage 134. Rotation of the drive shaft 198causes the camera 108 to tilt up or down about the revolute joint 148.

When the drive shafts 184, 192 and 198 are rotated to cause the camera108 to be deployed, the linkages 120 are displaced from the longitudinalaxis 142 causing portions of the drive shafts 192 and 198 runningthrough the panning linkage 130 and elevating linkage 132 to be bentthrough an angle. The drive shafts 192 and 198 thus have at least acompliant portion within the linkages to facilitating bending of theshaft in response to movements of the camera 108. The compliant portionpermits the drive shaft 192 and 198 to be bent through the necessaryangle while continuing to permit rotation of the drive shafts foractuating the respective linkages. In some embodiments the drive shaftsmay be fabricated entirely from a compliant material, while in otherembodiments the drive shafts may have some rigid portions and somecompliant portions. In one embodiment at least a portion of drive shaftsmay be fabricated from a hollow stainless steel tube.

Referring back to FIG. 3 , the camera 108 and plurality of connectedlinkages 120 are generally aligned along the longitudinal axis 142extending outwardly from the insertion tube, which may define aninsertion position for inserting the camera 108, linkages 120 andinsertion tube 124 into the body cavity of the patient. Once insertedthe drive shafts 184, 192 and 198 may be rotated to deploy the camera108 as shown in FIG. 5 . Referring to FIGS. 3 and 4 , in the embodimentshown the insertion tube 124 includes at least one bore 154 forreceiving an instrument for performing surgical operations within thebody cavity of the patient. The instrument may be a dexterous surgicalinstrument such as described in commonly owned PCT Patent ApplicationPCT/CA2013/001076 entitled ARTICULATED TOOL POSITIONER AND SYSTEMEMPLOYING SAME and PCT Patent Application PCT/CA2015/000098 entitledACTUATOR AND DRIVE FOR MANIPULATING A TOOL, both of which areincorporated herein in their entirety.

Referring back to FIG. 3 , the drive interface 126 includes a housing158 having a front cover 160 and a rear cover 162. Referring to FIG. 6 ,the drive interface 126 is shown with the front cover 160 omitted andthe rear cover 162 removed to reveal the drive components. The driveshafts 184, 192 and 198 are routed back through the respective bores172, 174, and 176 in the insertion tube 124 and are bent upwardly withinthe housing 158 and have proximal ends 260, 262, and 264 that terminatein respective drive couplers 266, 268, and 270. The drive couplers 266,268, and 270 are identical and the drive coupler 270 will be furtherdescribed herein. The drive coupler 270 includes a bevel gear assembly272 that receives a drive torque from the drive unit 106 (shown in FIG.2 ) at a drive hub 274 when the drive interface 126 is engaged on thedrive unit. The bevel gear assembly 272 rotates in the directionindicated by the arrow and the rotating motion is coupled through thegears via a shaft 276 to a rotational coupler 278. The rotationalcoupler 278 is generally operable to receive the proximal end 264 of thedrive shaft 198 and to transmit the drive torque to the drive shaftwhile accommodating linear movement of the proximal end due to resultingmovements of the camera 108. When the plurality of connected linkages120 move, the drive shafts 184, 192 and 198 extend or retract with themotion, which must be accommodated. In the embodiment shown, therotational coupler 278 has a tubular body 280 for receiving the proximalend 264 of drive shaft 198. The tubular body 280 has a slotted portion282 that engages a pin 284 extending through the proximal end of thedrive shaft for coupling to the tubular body. The pin 284 couples therotational torque to the proximal end 264 of the drive shaft 198 whilepermitting the proximal end and pin to slide within the slotted portion282 of the tubular body 280, thus accommodating extension or retractionof the drive shaft.

In the embodiment shown the drive coupler 270 also includes a moveabledetent mechanism 290, which is coupled to move with the proximal end 264of the drive shaft 198. The moveable detent 290 has a pin 292 operableto resiliently engage a rear side of a fixed detent plate 294 on therear cover 162. The fixed detent plate 294 has an opening 296 sized toaccommodate a head of the pin 292, the opening being positioned todefine a startup position for the proximal end 264 of the drive shaft198 that places the camera 108 in the insertion position aligned withthe longitudinal axis 142, as shown in FIG. 3 . In one embodiment, thedrive interface 126 is removably received on the drive unit 106 and whenreceived, the pin 292 on the moveable detent mechanism 290 is disengagedto permit movement of the camera 108 away from the insertion position.Prior to removal of the interface 126 from the drive unit 106, the driveunit is operably configured to return the camera 108 to the insertionposition causing the pin 292 and the opening 296 on the fixed detentplate 294 to be aligned but not yet engaged. When the drive interface126 is removed from the drive unit 106, the pin 292 and the opening 296engage and retain the rotational coupler 278 in the startup position.The drive couplers 266 and 268 have similar moveable and fixed detentmechanisms that operate in the same way. Advantageously, the detentmechanism locks the drive interface 126 in the insertion position whennot received on the drive unit 106 preventing movement of the drive hub274 and other drive hubs which would at least partially deploy thecamera 108. The plurality of connected linkages 120 and camera 108 thusremain in the insertion position while being cleaned and sterilized, andwhen re-used will be in a known orientation.

The camera 108 shown in the above embodiments will general beminiaturized to improve access to the body cavity of the patient and toreduce the size of incision needed to provide access for the camera insurgical procedures. In some embodiments, the camera may include one ormore high definition image sensors (not shown), where a pair of imagesensors are capable of producing stereoscopic 3D views within the bodycavity. The image sensors include sensor electronic circuitry thatgenerates image data representing the captured images. The capturedimage data must be transmitted back to the drive unit 106, whichrequires additional data transmission circuitry. The image captureelectronic circuitry and data transmission electrical circuitry maygenerate significant heat within the housing of the camera 108.Referring to FIG. 7 , in one embodiment the camera 108 houses the imagesensors and image capture electronic circuitry. A data transmissionprinted circuit board 300 carries the data transmission electricalcircuitry and is housed within the elevating linkage 132. The imagecapture electronic circuitry and data transmission electrical circuitrymay be coupled via a flexible interconnect (not shown) that permits the108 to be tilted by the tilt linkage 134. Advantageously, the separationof electrical circuitry places a significant source of heat in thelinkage away from the housing of the camera 108, thus spreading the heatload over a larger area.

In accordance with another disclosed aspect there is provided anapparatus for positioning a camera to capture images inside a bodycavity of a patient during a medical procedure. The apparatus includesan articulated arm that includes a plurality of connected moveablelinkages, a camera disposed at a distal end of the plurality ofconnected linkages, the camera including a camera housing enclosingimage capture optics, an image sensor, and image capture electroniccircuitry operable to produce image data representing images captured bythe image sensor, and data transmission electrical circuitry operable togenerate and transmit data signals encoding the image data to a hostsystem, the data transmission electrical circuitry being housed withinin one of the moveable linkages and coupled to the image captureelectronic circuitry via a flexible interconnect.

While specific embodiments have been described and illustrated, suchembodiments should be considered illustrative of the invention only andnot as limiting the invention as construed in accordance with theaccompanying claims.

1. (canceled)
 2. An apparatus for positioning a camera to capture aplurality of images inside a body cavity of a patient during a medicalprocedure, the apparatus comprising: an insertion tube; a plurality ofconnected linkages extending from a distal end of the insertion tube,the plurality of connected linkages including: a first linkage connectedto a distal end of the insertion tube; a second linkage connected to thefirst linkage; and a third linkage connected to the second linkage, acamera disposed at a distal end of the third linkage of the plurality ofconnected linkages, wherein the camera includes image sensors and imagecapture electronic circuitry housed within the third linkage; and a datatransmission printed circuit board housed within the second linkage ofthe plurality of connected linkages, wherein the data transmissionprinted circuit board is separated from the image sensors and the imagecapture electronic circuitry of the camera, wherein each linkage of theplurality of connected linkages is configured to move in response tobeing actuated by movement of a threaded actuator in response torotation of a respective drive shaft of each of the first linkage,second linkage and third linkage, the associated movements of eachlinkage of the plurality of the connected linkages together operable tofacilitate positioning of the camera within the body cavity of thepatient.
 3. The apparatus of claim 2, further comprising: a plurality ofdrive shafts extending proximally through the insertion tube, theplurality of drive shafts including: a first drive shaft configured toactuate a panning movement of the camera; a second drive shaftconfigured to actuate an elevating movement of the camera; and a thirddrive shaft configured to actuate a tilting movement of the camera. 4.The apparatus of claim 3, wherein each drive shaft of the plurality ofdrive shafts includes a drive coupler at a proximal end of the driveshaft, the drive coupler operable to receive a drive torque for causingrotation of the drive shaft.
 5. The apparatus of claim 4, wherein thedrive couplers of the plurality of drive shafts are housed within adrive interface operably configured to removably couple to a driverunit, the driver unit being operable to provide the respective drivetorques.
 6. The apparatus of claim 5, wherein each drive couplerincludes a rotational coupler configured to transmit torque to eachdrive shaft of the plurality of drive shafts, the rotational couplerbeing operably configured to receive the proximal end of the drive shaftand to transmit the drive torque to the drive shaft while accommodatinglinear movement of the proximal end of the drive shaft due to resultingmovements of the camera.
 7. The apparatus of claim 6, wherein at leastone rotational coupler includes a tubular body for receiving theproximal end of drive shaft, the tubular body including a slottedportion that engages a pin extending through the proximal end of thedrive shaft, the pin configured to couple to the tubular body.
 8. Theapparatus of claim 6, wherein each rotational coupler includes amoveable detent coupled to the proximal end of the drive shaft andoperable to resiliently engage a fixed detent in the drive interfacecorresponding to a startup position for each of the proximal ends of therespective drive shafts, the startup positions of the drive shaftsdefining an insertion position of the camera.
 9. The apparatus of claim8, wherein the drive interface is configured to be removably received ona drive unit, and wherein: when received, the moveable and fixed detentsare disengaged to permit movement of the camera away from the insertionposition; prior to removal of the drive interface, the drive unit isoperably configured to place the camera in the insertion positioncausing the moveable and fixed detents to be aligned; and when removed,the moveable and fixed detents are engaged to retain the rotationalcouplers in the startup position.
 10. The apparatus of claim 8, whereinin the insertion position the camera is positioned generally in linewith a longitudinal axis extending outwardly from the insertion tube.11. The apparatus of claim 10, wherein: the first linkage of theplurality of linkages is a panning linkage configured to produceside-to-side motion of the camera; the second linkage of the pluralityof linkages is an elevating linkage configured to move the camera awayfrom the longitudinal axis; and the third linkage of the plurality oflinkages is a tilt linkage configured to tilt the camera forward andbackward with respect to the longitudinal axis extending outwardly fromthe insertion tube.
 12. The apparatus of claim 3, wherein each driveshaft of the plurality of drive shafts includes a compliant portionconfigured to facilitate bending of the drive shaft in response tomovements of the camera while continuing to permit rotation of the driveshaft.
 13. The apparatus of claim 2, wherein at least one linkage of theplurality of connected linkages includes a revolute joint constrained topermit motion in a single degree of freedom corresponding to theassociated movement of the connected linkage, and wherein the threadedactuator is coupled to the connected linkage to cause motion about therevolute joint.
 14. The apparatus of claim 3, wherein: each of theplurality of connected linkages including a threaded actuator receivedon a threaded end of a respective drive shaft of the plurality of driveshafts, wherein the respective drive shaft of the plurality of driveshafts extends between the threaded actuator and a proximal end of theinsertion tube, wherein at least one of the threaded actuators islocated distal of at least one linkage of the plurality of connectedlinkages, wherein the threaded actuators include: a first threadedactuator received on a threaded end of the first drive shaft such thatrotation of the first threaded drive shaft actuates the first threadedactuator to actuate the first linkage of the plurality of linkages toactuate the panning movement of the camera; a second threaded actuatorreceived on a threaded end of the second drive shaft such that rotationof the second threaded drive shaft actuates the second threaded actuatorto actuate the second linkage of the plurality of linkages to actuatethe elevating movement of the camera, wherein the second threadedactuator is located distal of the first threaded actuator; and a thirdthreaded actuator received on a threaded end of the third drive shaftsuch that rotation of the third threaded drive shaft actuates the thirdthreaded actuator to actuate the third linkage of the plurality oflinkages to actuate the tilting movement of the camera, wherein thethird threaded actuator is located distal of the second threadedactuator.
 15. A method for positioning a camera to capture images insidea body cavity of a patient during a medical procedure, the camera beingdisposed at a distal end of a plurality of connected linkages extendingfrom a distal end of an insertion tube, the plurality of connectedlinkages including: a first linkage connected to the distal end of theinsertion tube; a second linkage connected to the first linkage andhaving a data transmission printed circuit board housed therein; and athird linkage connected to the second linkage and having: image sensorsand image capture electronic circuitry housed therein; and the cameradisposed at a distal end thereof, each of the first, second and thirdlinkages including a threaded actuator received on a threaded end of arespective drive shaft extending between the threaded actuator and aproximal end of the insertion tube, the method comprising: selectivelyrotating the respective drive shaft associated with at least one linkageof the plurality of connected linkages to cause movement of the threadedactuator on the respective drive shaft, the movement of the threadedactuator causing associated movement of the at least one linkage of theplurality of connected linkages to change a position the camera withinthe body cavity of the patient.
 16. The method of claim 15, wherein:selectively rotating the drive shaft associated with the first linkageresults in a panning movement of the camera; selectively rotating thedrive shaft associated with the second linkage results in an elevatingmovement of the camera; and selectively rotating the drive shaftassociated with the third linkage results in a tilting movement of thecamera.
 17. The method of claim 16, wherein selective rotation of atleast one of the respective drive shafts positions the camera in aninsertion position prior to removal from the body cavity of a patient.18. The method of claim 17, wherein positioning the camera aligns thecamera with a longitudinal axis of the insertion tube.
 19. The method ofclaim 15, further comprising: spreading a heat load of the camerabetween: the image sensors and image capture circuitry of the camera;and the data transmission circuit board.
 20. An apparatus forpositioning a camera to capture a plurality of images inside a bodycavity of a patient during a medical procedure, the apparatuscomprising: an insertion tube; a plurality of connected linkagesextending from a distal end of the insertion tube; a camera disposed ata distal end of a distal-most linkage of the plurality of connectedlinkages, wherein the camera includes image sensors and image captureelectronic circuitry housed within the distal-most linkage; and a datatransmission printed circuit board housed within a linkage of theplurality of connected linkages which is proximal of the distal-mostlinkage, wherein the data transmission printed circuit board isseparated from the image sensors and the image capture electroniccircuitry of the camera; wherein at least some of the plurality ofconnected linkages are configured to move in response to being actuatedby movement of a threaded actuator in response to rotation of arespective drive shaft, the associated movements of the at least some ofthe plurality of the connected linkages together operable to facilitatepositioning of the camera within the body cavity of the patient.
 21. Theapparatus of claim 20, wherein at least some of the plurality ofconnected linkages including a threaded actuator received on a threadedend of a respective drive shaft of a plurality of drive shafts, whereinthe respective drive shaft of the plurality of drive shafts extendbetween the threaded actuator and a proximal end of the insertion tube,wherein at least one of the threaded actuators is located distal of atleast one of the plurality of connected linkages.
 22. The apparatus ofclaim 21, wherein each drive shaft of the plurality of drive shaftsincludes a drive coupler at a proximal end of the drive shaft, the drivecoupler operable to receive a drive torque for causing rotation of thedrive shaft.
 23. The apparatus of claim 22, wherein the plurality ofconnected linkages comprises at least: a panning linkage configured toproduce side-to-side motion of the camera; an elevating linkageconfigured to move the camera away from the longitudinal axis; and atilt linkage configured to tilt the camera forward and backward withrespect to a longitudinal axis extending outwardly from the insertiontube.
 24. The apparatus of claim 23, wherein the panning linkage isconnected to the distal end of the insertion tube, the elevating linkageis connected to the panning linkage, and the tilt linkage is connectedto the elevating linkage, and wherein the camera is connected to thetilt linkage.
 25. The apparatus of claim 20, wherein at least some ofthe plurality of connected linkages comprise a revolute jointconstrained to permit motion in a single degree of freedom correspondingto the associated movement of the connected linkage, and wherein thethreaded actuator is coupled to the connected linkage to cause motionabout the revolute joint.